[1] Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R China
[2] Dalian Jiaotong Univ, Coll Locomot & Rolling Stock Engn, Dalian 116028, Peoples R China
[3] Qingdao Univ Technol, Sch Mech & Automot Engn, Qingdao 266520, Peoples R China
[4] Tsinghua Univ, Dept Elect Engn, Beijing 100084, Peoples R China